Unmanned aerial vehicle cooperative carrying control method and device, storage medium and unmanned aerial vehicle system
CN120631053BActive Publication Date: 2026-08-28SHENYANG WOOZOOM TECH CO LTD
Patent Information
- Application Number
- CN202510766336.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-10
- Publication Date
- 2026-08-28
- Estimated Expiration
- 2045-06-10
AI Technical Summary
Technical Problem
[0004]有鉴于此，本发明提供一种无人机协同运载控制方法及装置、存储介质、无人机系统，主要目的在于解决现有无人机协同运载控制精度度较低的问题
Benefits of technology
[0043]本发明提供了一种无人机协同运载控制方法及装置、存储介质、无人机系统，本发明实施例通过所述中央控制器依据各架无人机的性能参数和运载对象参数确定运载分配数据，并依据所述运载分配数据确定各架所述无人机的控制参数；所述中央控制器在所述无人机按照所述控制参数执行协同运载任务的过程中，依据采集到的各架无人机的实时监测数据，基于动态负载调整策略更新所述运载分配数据，并依据更新后的运载分配数据更新所述控制参数；在所述无人机按照所述控制参数和更新后的所述控制参数飞行的过程中，各个局部控制器，通过所配置的所述控制模型、接触补偿控制器和负载补偿控制器中的至少一个对各自对应的无人机进行单机控制参数调节，通过局部控制的控制参数调节能够确保无人机单机对抗扰动和负载突变的及时性和控制参数调整的准确性，同时，通过中央控制器进行运载分配能够实现多架无人机在协同运载过程中的负载均衡分配，避免因负载不均导致的飞行性能下降和安全隐患，从而大大提高控制的精度。
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Figure CN120631053B_ABST
Abstract
The application discloses a kind of unmanned aerial vehicle cooperative carrying control method and device, storage medium, unmanned aerial vehicle system, it is related to unmanned aerial vehicle control technical field, main purpose is to solve the problem of low precision of unmanned aerial vehicle cooperative carrying control. Mainly including determining carrying allocation data by central controller, and determining the control parameter of each unmanned aerial vehicle according to carrying allocation data;In the process that unmanned aerial vehicle executes cooperative carrying task according to control parameter, the carrying allocation data is updated based on dynamic load adjustment strategy by central controller, and the control parameter is updated according to the updated carrying allocation data;In the process that unmanned aerial vehicle flies according to control parameter and updated control parameter, each local controller is based on at least one of the configured control model, contact compensation controller and load compensation controller to adjust the single machine control parameter of each corresponding unmanned aerial vehicle. Mainly used for controlling multiple unmanned aerial vehicles cooperative carrying.
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Citation Information
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